include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",         --原来是base_footprint
  published_frame = "base_footprint",  --这里改了
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
-- TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10 --这个他给删除了，得再看看,也可能是他改名字了，置累积的激光扫描数据数量。在 Cartographer 中，通常会累积一定数量的扫描数据，然后一起进行处理。此参数定义了累积多少条数据后进行一次更新。10 表示累积 10 条激光扫描数据。
--下面都是后加的

-- TRAJECTORY_BUILDER_2D.use_imu_data = false


-- 注释以下试试
TRAJECTORY_BUILDER_2D.min_range = 0.05
TRAJECTORY_BUILDER_2D.max_range = 30
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5
TRAJECTORY_BUILDER_2D.use_imu_data = false
-- TRAJECTORY_BUILDER_2D.use_imu_data = true     --这里改为true
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 5
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 10
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
-- for current lidar only 1 is good value
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

TRAJECTORY_BUILDER_2D.min_z = -0.5
TRAJECTORY_BUILDER_2D.max_z = 0.5

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 30

return options
